Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT

Abstract

Simulation is a system to imitate the operation of various kinds of real-world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.